Variables | |
| tuple | dae = open(sys.argv[1],'r') |
| tuple | index = dae.find('</kinematics_model>') |
| list | manipulators |
| list | sensors |
| list annotate_pr2dae::dae = open(sys.argv[1],'r') |
Definition at line 21 of file annotate_pr2dae.py.
| tuple annotate_pr2dae::index = dae.find('</kinematics_model>') |
Definition at line 23 of file annotate_pr2dae.py.
00001 [('leftarm',""" <extra type="manipulator" name="leftarm"> <technique profile="OpenRAVE"> <frame_origin link="kmodel0/torso_lift_link"/> <frame_tip link="kmodel0/l_gripper_palm_link"> <translate>0.18 0 0</translate> <rotate>0 1 0 90</rotate> </frame_tip> <gripper_joint joint="kmodel0/l_gripper_l_finger_joint"> <closing_direction axis="./axis0"> <float>-1</float> </closing_direction> </gripper_joint> <iksolver type="Transform6D"> <free_joint joint="kmodel0/l_upper_arm_roll_joint"/> <interface_type> <technique profile="OpenRAVE"> <interface>ikfast_pr2_leftarm</interface> </technique> </interface_type> </iksolver> </technique> </extra>"""), 00002 ('leftarm_torso',""" <extra type="manipulator" name="leftarm_torso"> <technique profile="OpenRAVE"> <frame_origin link="kmodel0/base_link"/> <frame_tip link="kmodel0/l_gripper_palm_link"> <translate>0.18 0 0</translate> <rotate>0 1 0 90</rotate> </frame_tip> <gripper_joint joint="kmodel0/l_gripper_l_finger_joint"> <closing_direction axis="./axis0"> <float>-1</float> </closing_direction> </gripper_joint> <iksolver type="Transform6D"> <free_joint joint="kmodel0/torso_lift_joint"/> <free_joint joint="kmodel0/l_upper_arm_roll_joint"/> <interface_type> <technique profile="OpenRAVE"> <interface>ikfast_pr2_leftarm_torso</interface> </technique> </interface_type> </iksolver> </technique> </extra>"""), 00003 ('rightarm',""" <extra type="manipulator" name="rightarm"> <technique profile="OpenRAVE"> <frame_origin link="kmodel0/torso_lift_link"/> <frame_tip link="kmodel0/r_gripper_palm_link"> <translate>0.18 0 0</translate> <rotate>0 1 0 90</rotate> </frame_tip> <gripper_joint joint="kmodel0/r_gripper_l_finger_joint"> <closing_direction axis="./axis0"> <float>-1</float> </closing_direction> </gripper_joint> <iksolver type="Transform6D"> <free_joint joint="kmodel0/r_upper_arm_roll_joint"/> <interface_type> <technique profile="OpenRAVE"> <interface>ikfast_pr2_rightarm</interface> </technique> </interface_type> </iksolver> </technique> </extra>"""), 00004 ('rightarm_torso',""" <extra type="manipulator" name="rightarm_torso"> <technique profile="OpenRAVE"> <frame_origin link="kmodel0/base_link"/> <frame_tip link="kmodel0/r_gripper_palm_link"> <translate>0.18 0 0</translate> <rotate>0 1 0 90</rotate> </frame_tip> <gripper_joint joint="kmodel0/r_gripper_l_finger_joint"> <closing_direction axis="./axis0"> <float>-1</float> </closing_direction> </gripper_joint> <iksolver type="Transform6D"> <free_joint joint="kmodel0/torso_lift_joint"/> <free_joint joint="kmodel0/r_upper_arm_roll_joint"/> <interface_type> <technique profile="OpenRAVE"> <interface>ikfast_pr2_rightarm_torso</interface> </technique> </interface_type> </iksolver> </technique> </extra>"""), 00005 ('head',""" <extra type="manipulator" name="head"> <technique profile="OpenRAVE"> <frame_origin link="kmodel0/torso_lift_link"/> <frame_tip link="kmodel0/wide_stereo_optical_frame"/> <iksolver type="Lookat3D"> <interface_type> <technique profile="OpenRAVE"> <interface>ikfast_pr2_head</interface> </technique> </interface_type> </iksolver> </technique> </extra>"""), 00006 ('head_torso',""" <extra type="manipulator" name="head_torso"> <technique profile="OpenRAVE"> <frame_origin link="kmodel0/base_link"/> <frame_tip link="kmodel0/wide_stereo_optical_frame"/> <iksolver type="Lookat3D"> <free_joint joint="kmodel0/torso_lift_joint"/> <interface_type> <technique profile="OpenRAVE"> <interface>ikfast_pr2_head_torso</interface> </technique> </interface_type> </iksolver> </technique> </extra>"""), 00007 ('rightarm_camera',""" <extra type="manipulator" name="rightarm_camera"> <technique profile="OpenRAVE"> <frame_origin link="kmodel0/torso_lift_link"/> <frame_tip link="kmodel0/r_forearm_cam_optical_frame"> </frame_tip> <iksolver type="Ray4D"> </iksolver> </technique> </extra>"""), 00008 ('leftarm_camera',""" <extra type="manipulator" name="leftarm_camera"> <technique profile="OpenRAVE"> <frame_origin link="kmodel0/torso_lift_link"/> <frame_tip link="kmodel0/l_forearm_cam_optical_frame"> </frame_tip> <iksolver type="Ray4D"> </iksolver> </technique> </extra>""")]
Definition at line 195 of file annotate_pr2dae.py.
00001 [('base_laser',""" <extra type="attach_sensor" name="base_laser"> <technique profile="OpenRAVE"> <instance_sensor url="#base_laser"/> <frame_origin link="kmodel0/base_laser_link"/> </technique> </extra>"""), 00002 ('tilt_laser',""" <extra type="attach_sensor" name="tilt_laser"> <technique profile="OpenRAVE"> <instance_sensor url="#tilt_laser"/> <frame_origin link="kmodel0/laser_tilt_link"/> </technique> </extra>"""), 00003 ('l_forearm_cam_optical_sensor',""" <extra type="attach_sensor" name="l_forearm_cam_optical_sensor"> <technique profile="OpenRAVE"> <instance_sensor url="#l_forearm_cam_sensor"/> <frame_origin link="kmodel0/l_forearm_cam_optical_frame"/> </technique> </extra>"""), 00004 ('r_forearm_cam_optical_sensor',""" <extra type="attach_sensor" name="r_forearm_cam_optical_sensor"> <technique profile="OpenRAVE"> <instance_sensor url="#l_forearm_cam_sensor"/> <frame_origin link="kmodel0/r_forearm_cam_optical_frame"/> </technique> </extra>"""), 00005 ('narrow_stereo_optical_sensor',""" <extra type="attach_sensor" name="narrow_stereo_optical_sensor"> <technique profile="OpenRAVE"> <instance_sensor url="#narrow_stereo_camera_sensor"/> <frame_origin link="kmodel0/narrow_stereo_optical_frame"/> </technique> </extra>"""), 00006 ('wide_stereo_optical_sensor',""" <extra type="attach_sensor" name="wide_stereo_optical_sensor"> <technique profile="OpenRAVE"> <instance_sensor url="#wide_stereo_camera_sensor"/> <frame_origin link="kmodel0/wide_stereo_optical_frame"/> </technique> </extra>""")]
Definition at line 346 of file annotate_pr2dae.py.
